sdf -> usd: Added Visual and geometries

test/sdf/basic_shapes.sdf

@@ -0,0 +1,143 @@
+<?xml version="1.0" ?>
+<sdf version="1.8">
+  <world name="shapes_world">
+    <model name="ground_plane">
+      <static>true</static>
+      <link name="link">
+        <collision name="collision">
+          <geometry>
+            <plane>
+              <normal>0 0 1</normal>
+              <size>1.4 6.3</size>
+            </plane>
+          </geometry>
+        </collision>
+
+        <visual name="visual">
+          <geometry>
+            <plane>
+              <normal>0 0 1</normal>
+              <size>2 4</size>
+            </plane>
+          </geometry>
+        </visual>
+      </link>
+    </model>
+
+    <model name="box">
+      <pose relative_to="ground_plane">0 0 2.5 0 0 0</pose>
+      <link name="link">
+        <collision name="collision">
+          <geometry>
+            <box>
+              <size>1 2 3</size>
+            </box>
+          </geometry>
+          <surface>
+            <contact>
+              <collide_bitmask>0xAB</collide_bitmask>
+            </contact>
+          </surface>
+        </collision>
+
+        <visual name="box_vis">
+          <geometry>
+            <box>
+              <size>1 2 3</size>
+            </box>
+          </geometry>
+        </visual>
+      </link>
+    </model>
+
+    <model name="cylinder">
+      <pose relative_to="box">2 0 0 0 0 0</pose>
+      <link name="link">
+        <collision name="collision">
+          <geometry>
+            <cylinder>
+              <radius>0.2</radius>
+              <length>0.1</length>
+            </cylinder>
+          </geometry>
+        </collision>
+
+        <visual name="visual">
+          <geometry>
+            <cylinder>
+              <radius>0.2</radius>
+              <length>0.1</length>
+            </cylinder>
+          </geometry>
+        </visual>
+      </link>
+    </model>
+
+    <model name="sphere">
+      <pose relative_to="cylinder">2 0 0 0 0 0</pose>
+      <link name="link">
+        <collision name="collision">
+          <geometry>
+            <sphere>
+              <radius>1.23</radius>
+            </sphere>
+          </geometry>
+        </collision>
+
+        <visual name="sphere_vis">
+          <geometry>
+            <sphere>
+              <radius>1.23</radius>
+            </sphere>
+          </geometry>
+        </visual>
+      </link>
+    </model>
+
+    <model name="capsule">
+      <pose relative_to="sphere">2 0 0 0 0 0</pose>
+      <link name="link">
+        <collision name="collision">
+          <geometry>
+            <capsule>
+              <radius>0.2</radius>
+              <length>0.1</length>
+            </capsule>
+          </geometry>
+        </collision>
+
+        <visual name="visual">
+          <geometry>
+            <capsule>
+              <radius>0.2</radius>
+              <length>0.1</length>
+            </capsule>
+          </geometry>
+        </visual>
+      </link>
+    </model>
+
+    <model name="mesh">
+      <pose relative_to="capsule">2 0 0 0 0 0</pose>
+      <link name="link">
+        <collision name="collision">
+          <geometry>
+            <mesh>
+              <uri>file://box.dae</uri>
+              <scale>0.1 0.2 0.3</scale>
+            </mesh>
+          </geometry>
+        </collision>
+
+        <visual name="visual">
+          <geometry>
+            <mesh>
+              <uri>file://box.dae</uri>
+              <scale>1.2 2.3 3.4</scale>
+            </mesh>
+          </geometry>
+        </visual>
+      </link>
+    </model>
+  </world>
+</sdf>

test/sdf/box.dae

@@ -0,0 +1,98 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect id="Material-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0 0 0 1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0.64 0.64 0.64 1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.5 0.5 0.5 1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">50</float>
+            </shininess>
+            <transparent opaque="A_ONE">
+              <color>1 1 1 1</color>
+            </transparent>
+            <transparency>
+              <float>1</float>
+            </transparency>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_materials>
+    <material id="Material-material" name="Material-material">
+      <instance_effect url="#Material-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="Cube-mesh" name="Cube">
+      <mesh>
+        <source id="Cube-mesh-positions">
+          <float_array id="Cube-mesh-positions-array" count="24">1 1 -1 1 -1 -1 -1 -0.9999998 -1 -0.9999997 1 -1 1 0.9999995 1 0.9999994 -1.000001 1 -1 -0.9999997 1 -1 1 1</float_array>
+          <technique_common>
+            <accessor source="#Cube-mesh-positions-array" count="8" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <source id="Cube-mesh-normals">
+          <float_array id="Cube-mesh-normals-array" count="18">0 0 -1 0 0 1 1 -2.83122e-7 0 -2.83122e-7 -1 0 -1 2.23517e-7 -1.3411e-7 2.38419e-7 1 2.08616e-7</float_array>
+          <technique_common>
+            <accessor source="#Cube-mesh-normals-array" count="6" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="Cube-mesh-vertices">
+          <input semantic="POSITION" source="#Cube-mesh-positions"/>
+        </vertices>
+        <polylist material="Material-material" count="6">
+          <input semantic="VERTEX" source="#Cube-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#Cube-mesh-normals" offset="1"/>
+          <vcount>4 4 4 4 4 4 </vcount>
+          <p>0 0 1 0 2 0 3 0 4 1 7 1 6 1 5 1 0 2 4 2 5 2 1 2 1 3 5 3 6 3 2 3 2 4 6 4 7 4 3 4 4 5 0 5 3 5 7 5</p>
+        </polylist>
+      </mesh>
+      <extra><technique profile="MAYA"><double_sided>1</double_sided></technique></extra>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="Cube" name="Cube" type="NODE">
+        <instance_geometry url="#Cube-mesh">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Material-material" target="#Material-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>

usd/include/sdf/usd/UsdError.hh

@@ -57,6 +57,15 @@ namespace sdf
 
     /// \brief A pxr API was not able to be applied to a USD prim.
     FAILED_PRIM_API_APPLY,
+
+    /// \brief Attempt to define a USD prim or prim schema failed.
+    FAILED_USD_DEFINITION,
+
+    /// \brief Failure to load a mesh and/or submesh
+    MESH_LOAD_FAILURE,
+
+    /// \brief Invalid submesh primitive type
+    INVALID_SUBMESH_PRIMITIVE_TYPE,
   };
 
   class IGNITION_SDFORMAT_USD_VISIBLE UsdError

usd/include/sdf/usd/sdf_parser/Geometry.hh

@@ -0,0 +1,59 @@
+/*
+ * Copyright (C) 2022 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+*/
+
+#ifndef SDF_USD_SDF_PARSER_GEOMETRY_HH_
+#define SDF_USD_SDF_PARSER_GEOMETRY_HH_
+
+#include <string>
+
+// TODO(adlarkin) this is to remove deprecated "warnings" in usd, these warnings
+// are reported using #pragma message so normal diagnostic flags cannot remove
+// them. This workaround requires this block to be used whenever usd is
+// included.
+#pragma push_macro ("__DEPRECATED")
+#undef __DEPRECATED
+#include <pxr/usd/usd/stage.h>
+#pragma pop_macro ("__DEPRECATED")
+
+#include "sdf/Geometry.hh"
+#include "sdf/config.hh"
+#include "sdf/usd/Export.hh"
+#include "sdf/usd/UsdError.hh"
+
+namespace sdf
+{
+  // Inline bracke to help doxygen filtering.
+  inline namespace SDF_VERSION_NAMESPACE {
+  //
+  namespace usd
+  {
+    /// \brief Parse an SDF geometry into a USD stage.
+    /// \param[in] _geometry The SDF geometry to parse.
+    /// \param[in] _stage The stage that should contain the USD representation
+    /// of _geometry.
+    /// \param[in] _path The USD path of the parsed geometry in _stage, which
+    /// must be a valid USD path.
+    /// \return UsdErrors, which is a vector of UsdError objects. Each UsdError
+    /// includes an error code and message. An empty vector indicates no error.
+    UsdErrors IGNITION_SDFORMAT_USD_VISIBLE ParseSdfGeometry(
+        const sdf::Geometry &_geometry, pxr::UsdStageRefPtr &_stage,
+        const std::string &_path);
+  }
+  }
+}
+
+#endif

usd/include/sdf/usd/sdf_parser/Light.hh

@@ -47,7 +47,7 @@ namespace sdf
     /// of _light.
     /// \param[in] _path The USD path of the parsed light in _stage, which must
     /// be a valid USD path.
-    /// \return UsdErrors, which is a vector of Error objects. Each Error
+    /// \return UsdErrors, which is a vector of UsdError objects. Each UsdError
     /// includes an error code and message. An empty vector indicates no error.
     UsdErrors IGNITION_SDFORMAT_USD_VISIBLE ParseSdfLight(
         const sdf::Light &_light,

usd/include/sdf/usd/sdf_parser/Link.hh

@@ -0,0 +1,62 @@
+/*
+ * Copyright (C) 2022 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+*/
+
+#ifndef SDF_USD_SDF_PARSER_LINK_HH_
+#define SDF_USD_SDF_PARSER_LINK_HH_
+
+#include <string>
+
+// TODO(ahcorde) this is to remove deprecated "warnings" in usd, these warnings
+// are reported using #pragma message so normal diagnostic flags cannot remove
+// them. This workaround requires this block to be used whenever usd is
+// included.
+#pragma push_macro ("__DEPRECATED")
+#undef __DEPRECATED
+#include <pxr/usd/usd/stage.h>
+#pragma pop_macro ("__DEPRECATED")
+
+#include "sdf/Link.hh"
+#include "sdf/usd/Export.hh"
+#include "sdf/usd/UsdError.hh"
+#include "sdf/sdf_config.h"
+
+namespace sdf
+{
+  // Inline bracke to help doxygen filtering.
+  inline namespace SDF_VERSION_NAMESPACE {
+  //
+  namespace usd
+  {
+    /// \brief Parse an SDF link into a USD stage.
+    /// \param[in] _link The SDF link to parse.
+    /// \param[in] _stage The stage that should contain the USD representation
+    /// of _link. This must be a valid, initialized stage.
+    /// \param[in] _path The USD path of the parsed link in _stage, which must
+    /// be a valid USD path.
+    /// \param[in] _rigidBody Whether the link is a rigid body (i.e.,
+    /// non-static) or not. True for rigid body, false otherwise
+    /// \return UsdErrors, which is a vector of UsdError objects. Each UsdError
+    /// includes an error code and message. An empty vector indicates no errors
+    /// occurred when parsing _link to its USD representation.
+    UsdErrors IGNITION_SDFORMAT_USD_VISIBLE ParseSdfLink(const sdf::Link &_link,
+        pxr::UsdStageRefPtr &_stage, const std::string &_path,
+        bool _rigidBody);
+  }
+  }
+}
+
+#endif